Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios

Rasmus S. Andersen; Lazaros Nalpantidis; Volker Krüger; Ole Madsen; Thomas B. Moeslund

Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios

Rasmus S. Andersen, Lazaros Nalpantidis, Volker Krüger, Ole Madsen, Thomas B. Moeslund

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

8 Citationer (Scopus)

Abstract

Traditional robots used in manufacturing are very efficient for solving specific tasks that are repeated many
times. The robots are, however, difficult to (re-)configure and (re-)program. This can often only be done by
expert robotic programmers, computer vision experts, etc., and it requires additionally lots of time. In this
paper we present and use a skill based framework for robotic programming. In this framework, we develop a
flexible pick skill, that can easily be reprogrammed to solve new specific tasks, even by non-experts. Using
the pick skill, a robot can detect rotational symmetric objects on tabletops and pick them up in a user-specified
manner. The programming itself is primarily done through kinesthetic teaching. We show that the skill
has robustness towards the location and shape of the object to pick, and that objects from a real industrial
production line can be handled. Also, preliminary tests indicate that non-expert users can learn to use the skill
after only a short introduction.

Originalsprog	Engelsk
Titel	VISAPP 2014 - Proceedings of the 9th International Conference on Computer Vision Theory and Applications
Antal sider	8
Vol/bind	3
Forlag	SCITEPRESS Digital Library
Publikationsdato	1 jan. 2014
Sider	678-685
ISBN (Trykt)	978-989758009-3
Status	Udgivet - 1 jan. 2014
Begivenhed	International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications: VISAPP 2014 - Lisbon, Portugal Varighed: 5 jan. 2014 → 8 jan. 2014

Konference

Konference	International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
Land/Område	Portugal
By	Lisbon
Periode	05/01/2014 → 08/01/2014

Emneord

Robot vision, robotic skills, industrial robots, tabletop object detector.

Adgang til dokumentet

http://www.scopus.com/inward/record.url?scp=84906903771&partnerID=8YFLogxK

AUB Link

Søg efter materialet i Aalborg Universitetsbiblioteks søgemaskine

TAPAS: Robotics-enabled logistics and assistive services for the transformable factory of the future (TAPAS)
Madsen, O., Krüger, V. K. C., Dang, V. Q., Nielsen, I. E., Pedersen, M. R., Steger-Jensen, K. & Hvolby, H.
01/11/2010 → 30/10/2014
Projekter: Projekt › Forskning

Citationsformater

Andersen, R. S., Nalpantidis, L., Krüger, V., Madsen, O., & Moeslund, T. B. (2014). Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios. I VISAPP 2014 - Proceedings of the 9th International Conference on Computer Vision Theory and Applications (Bind 3, s. 678-685). SCITEPRESS Digital Library. http://www.scopus.com/inward/record.url?scp=84906903771&partnerID=8YFLogxK

@inproceedings{bc0904b2babe4c7b829a390ce6a2b0d3,

title = "Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios",

abstract = "Traditional robots used in manufacturing are very efficient for solving specific tasks that are repeated manytimes. The robots are, however, difficult to (re-)configure and (re-)program. This can often only be done byexpert robotic programmers, computer vision experts, etc., and it requires additionally lots of time. In thispaper we present and use a skill based framework for robotic programming. In this framework, we develop aflexible pick skill, that can easily be reprogrammed to solve new specific tasks, even by non-experts. Usingthe pick skill, a robot can detect rotational symmetric objects on tabletops and pick them up in a user-specifiedmanner. The programming itself is primarily done through kinesthetic teaching. We show that the skillhas robustness towards the location and shape of the object to pick, and that objects from a real industrialproduction line can be handled. Also, preliminary tests indicate that non-expert users can learn to use the skillafter only a short introduction.",

keywords = "Robot vision, robotic skills, industrial robots, tabletop object detector.",

author = "Andersen, {Rasmus S.} and Lazaros Nalpantidis and Volker Kr{\"u}ger and Ole Madsen and Moeslund, {Thomas B.}",

year = "2014",

month = jan,

day = "1",

language = "English",

isbn = "978-989758009-3",

volume = "3",

pages = "678--685",

booktitle = "VISAPP 2014 - Proceedings of the 9th International Conference on Computer Vision Theory and Applications",

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note = " International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications : VISAPP 2014 ; Conference date: 05-01-2014 Through 08-01-2014",

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Andersen, RS, Nalpantidis, L, Krüger, V, Madsen, O & Moeslund, TB 2014, Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios. i VISAPP 2014 - Proceedings of the 9th International Conference on Computer Vision Theory and Applications. bind 3, SCITEPRESS Digital Library, s. 678-685, International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Lisbon, Portugal, 05/01/2014. <http://www.scopus.com/inward/record.url?scp=84906903771&partnerID=8YFLogxK>

Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios. / Andersen, Rasmus S.; Nalpantidis, Lazaros; Krüger, Volker et al.
VISAPP 2014 - Proceedings of the 9th International Conference on Computer Vision Theory and Applications. Bind 3 SCITEPRESS Digital Library, 2014. s. 678-685.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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T1 - Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios

AU - Andersen, Rasmus S.

AU - Nalpantidis, Lazaros

AU - Krüger, Volker

AU - Madsen, Ole

AU - Moeslund, Thomas B.

PY - 2014/1/1

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N2 - Traditional robots used in manufacturing are very efficient for solving specific tasks that are repeated manytimes. The robots are, however, difficult to (re-)configure and (re-)program. This can often only be done byexpert robotic programmers, computer vision experts, etc., and it requires additionally lots of time. In thispaper we present and use a skill based framework for robotic programming. In this framework, we develop aflexible pick skill, that can easily be reprogrammed to solve new specific tasks, even by non-experts. Usingthe pick skill, a robot can detect rotational symmetric objects on tabletops and pick them up in a user-specifiedmanner. The programming itself is primarily done through kinesthetic teaching. We show that the skillhas robustness towards the location and shape of the object to pick, and that objects from a real industrialproduction line can be handled. Also, preliminary tests indicate that non-expert users can learn to use the skillafter only a short introduction.

AB - Traditional robots used in manufacturing are very efficient for solving specific tasks that are repeated manytimes. The robots are, however, difficult to (re-)configure and (re-)program. This can often only be done byexpert robotic programmers, computer vision experts, etc., and it requires additionally lots of time. In thispaper we present and use a skill based framework for robotic programming. In this framework, we develop aflexible pick skill, that can easily be reprogrammed to solve new specific tasks, even by non-experts. Usingthe pick skill, a robot can detect rotational symmetric objects on tabletops and pick them up in a user-specifiedmanner. The programming itself is primarily done through kinesthetic teaching. We show that the skillhas robustness towards the location and shape of the object to pick, and that objects from a real industrialproduction line can be handled. Also, preliminary tests indicate that non-expert users can learn to use the skillafter only a short introduction.

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M3 - Article in proceeding

SN - 978-989758009-3

VL - 3

SP - 678

EP - 685

BT - VISAPP 2014 - Proceedings of the 9th International Conference on Computer Vision Theory and Applications

PB - SCITEPRESS Digital Library

T2 - International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications

Y2 - 5 January 2014 through 8 January 2014

ER -

Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios

Abstract

Konference

Emneord

Adgang til dokumentet

AUB Link

Projekter

TAPAS: Robotics-enabled logistics and assistive services for the transformable factory of the future (TAPAS)

Citationsformater